Enhanced Extended State Observer Based on Trajectory Linearization Control for External and Internal Disturbances

Document Type : Research Article

Authors

1 Faculty of Aerospace Engineering, Malek Ashtar University of Technology, Tehran, Iran

2 Aerospace Engineering -Malek Ashtar University

3 Aerospace, Malek-Ashtar, Tehran, Iran

4 Faculty of Electrical Engineering, Malek Ashtar University of Technology, Tehran, Ira

Abstract

This paper proposes a novel hybrid control framework by combing enhanced extended state observer with trajectory linearization control for air vehicle acceleration tracking problems. First, based on the tracking error dynamics derived by Taylor expansion for the original nonlinear system along the desired trajectory, a feedback linearization-based control law is designed to stabilize a linear time-varying system. To reduce the controller performance sensitivity to uncertainties, with partial model information, an enhanced extended state observer is constructed to estimate the tracking error vector, as well as the uncertainties in an integrated manner. The closed-loop stability of the system under the proposed compound scheme is established. Both numerical simulation studies and an application example of air vehicle acceleration autopilot design demonstrate the feasibility and efficacy of the proposed method.

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References

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Amirkabir Journal of Mechanical Engineering
Volume 54, Issue 6
September 2022
Pages 1319-1340

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